public PathRequest(Vector3 a, Vector3 b, int mapId, PathRequestFlags flags = PathRequestFlags.None, MovementType movementType = MovementType.MOVE_TO_POSITION)
{
A = a;
B = b;
MapId = mapId;
Flags = flags;
MovementType = movementType;
}
public PathRequest(Vector3 a, Vector3 b, int mapId, PathRequestFlags flags = PathRequestFlags.None, MovementType movementType = MovementType.MoveToPosition)
{
A = a;
B = b;
MapId = mapId;
Flags = flags;
MovementType = movementType;
}
public PathRequest(int mapId, Vector3 a, Vector3 b, PathRequestFlags flags = PathRequestFlags.None, MovementType movementType = MovementType.FindPath)
{
Type = 1;
A = a;
B = b;
MapId = mapId;
Flags = flags;
MovementType = movementType;
}
private string SendPathRequest(int mapId, Vector3 start, Vector3 end, PathRequestFlags pathRequestFlags, MovementType movementType)
{
string pathRequest = JsonConvert.SerializeObject(new PathRequest(start, end, mapId, pathRequestFlags, movementType));
Writer.WriteLine(pathRequest + " >");
Writer.Flush();
string pathJson = Reader.ReadLine().Replace(">", string.Empty);
return(pathJson);
}
public static List <Vector3> GetPath(Vector3 start, Vector3 end, int mapId, PathRequestFlags flags, string clientIp)
{
int pathSize;
List <Vector3> path = new List <Vector3>();
Stopwatch sw = new Stopwatch();
sw.Start();
lock (maplock)
{
if (!AmeisenNav.IsMapLoaded(mapId))
{
AmeisenNav.LoadMap(mapId);
}
unsafe
{
fixed(float *pointerStart = start.ToArray())
fixed(float *pointerEnd = end.ToArray())
{
float *path_raw = AmeisenNav.GetPath(mapId, pointerStart, pointerEnd, &pathSize);
// postprocess the raw path to a list of Vector3
// the raw path looks like this:
// [ x1, y1, z1, x2, y2, z2, ...]
for (int i = 0; i < pathSize * 3; i += 3)
{
path.Add(new Vector3(path_raw[i], path_raw[i + 1], path_raw[i + 2]));
}
}
}
}
if (flags.HasFlag(PathRequestFlags.NaturalSteeringBehavior))
{
path = NaturalSteeringBehavior.Perform(path);
}
if (flags.HasFlag(PathRequestFlags.ChaikinCurve))
{
path = ChaikinCurve.Perform(path);
}
//// bugged atm path = NodeReduction.Perform(path);
sw.Stop();
LogQueue.Enqueue(new LogEntry($"[{clientIp}] ", ConsoleColor.Green, $"Building Path with {path.Count} Nodes took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)", LogLevel.INFO));
return(path);
}
private T BuildAndSendPathRequest <T>(int mapId, Vector3 start, Vector3 end, MovementType movementType, PathRequestFlags pathRequestFlags = PathRequestFlags.None)
{
if (TcpClient.Connected)
{
try
{
string pathJson = SendPathRequest(mapId, start, end, pathRequestFlags, movementType);
if (BotUtils.IsValidJson(pathJson))
{
return(JsonConvert.DeserializeObject <T>(pathJson.Trim()));
}
}
catch (Exception e)
{
AmeisenLogger.Instance.Log("Pathfinding", $"BuildAndSendPathRequest failed:\n{e}", LogLevel.Error);
}
}
return(default);
private unsafe bool SendPathRequest(int mapId, Vector3 start, Vector3 end, MovementType movementType, out Vector3[] path, PathRequestFlags pathRequestFlags = PathRequestFlags.None)
{
if (IsConnected)
{
try
{
byte[] response = SendData(new PathRequest(mapId, start, end, pathRequestFlags, movementType), sizeof(PathRequest));
if (response != null && response.Length >= sizeof(Vector3))
{
int nodeCount = response.Length / sizeof(Vector3);
fixed(byte *pResult = response)
{
path = new Span <Vector3>(pResult, nodeCount).ToArray();
return(true);
}
}
}
catch (Exception e)
{
AmeisenLogger.I.Log("Pathfinding", $"BuildAndSendRandomPointRequest failed:\n{e}", LogLevel.Error);
}
}
path = null;
return(false);
}
public static List <Vector3> GetPath(Vector3 start, Vector3 end, float maxRadius, int mapId, MovementType movementType, PathRequestFlags flags, string clientIp)
{
int pathSize;
List <Vector3> path = new List <Vector3>();
Stopwatch sw = new Stopwatch();
sw.Start();
lock (querylock)
{
if (!AmeisenNav.IsMapLoaded(mapId))
{
AmeisenNav.LoadMap(mapId);
}
unsafe
{
fixed(float *pointerStart = start.ToArray())
fixed(float *pointerEnd = end.ToArray())
{
switch (movementType)
{
case MovementType.MoveToPosition:
float[] movePath = AmeisenNav.GetPath(mapId, pointerStart, pointerEnd, &pathSize);
for (int i = 0; i < pathSize * 3; i += 3)
{
path.Add(new Vector3(movePath[i], movePath[i + 1], movePath[i + 2]));
}
if (flags.HasFlag(PathRequestFlags.ChaikinCurve))
{
path = ChaikinCurve.Perform(path);
}
break;
case MovementType.MoveAlongSurface:
float[] surfacePath = AmeisenNav.MoveAlongSurface(mapId, pointerStart, pointerEnd);
path.Add(new Vector3(surfacePath[0], surfacePath[1], surfacePath[2]));
break;
case MovementType.CastMovementRay:
if (AmeisenNav.CastMovementRay(mapId, pointerStart, pointerEnd))
{
// return end if target is in line of sight
path.Add(end);
}
else
{
// return none if target is not in line of sight
path.Clear();
}
break;
case MovementType.GetRandomPoint:
float[] randomPoint = AmeisenNav.GetRandomPoint(mapId);
path.Add(new Vector3(randomPoint[0], randomPoint[1], randomPoint[2]));
break;
case MovementType.GetRandomPointAround:
float[] randomPointAround = AmeisenNav.GetRandomPointAround(mapId, pointerStart, maxRadius);
path.Add(new Vector3(randomPointAround[0], randomPointAround[1], randomPointAround[2]));
break;
}
}
}
}
sw.Stop();
LogQueue.Enqueue(new LogEntry($"[{clientIp}] ", ConsoleColor.Green, $"{movementType} with {path.Count}/{Settings.MaxPointPathCount} Nodes took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)", LogLevel.INFO));
return(path);
}
